Gharaaty, Sepehr, Shu, Tingting, Joubair, Ahmed, Xie, Wen Fang and Bonev, Ilian A (2018) Online pose correction of an industrial robot using an optical coordinate measure machine system. International Journal of Advanced Robotic Systems, 15 (4). p. 172988141878791. ISSN 1729-8814
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Official URL: http://dx.doi.org/10.1177/1729881418787915
Abstract
In this article, a dynamic pose correction scheme is proposed to enhance the pose accuracy of industrial robots. The dynamic pose correction scheme uses the dynamic pose measurements as feedback to accurately guide the robot end-effector to the desired pose. The pose is measured online with an optical coordinate measure machine, that is, C-Track 780 from Creaform. A root mean square method is proposed to filter the noise from the pose measurements. The dynamic pose correction scheme adopts proportional-integral-derivaitve controller and generates commands to the FANUC robot controller. The developed dynamic pose correction scheme has been tested on two industrial robots, FANUC LR Mate 200iC and FANUC M20iA. The experimental results on both robots demonstrate that the robots can reach the desired pose with an accuracy of ±0.050 mm for position and ±0.050° for orientation. As a result, the developed pose correction can make the industrial robots meet higher accuracy requirement in the applications such as riveting, drilling, and spot welding.
| Divisions: | Concordia University > Gina Cody School of Engineering and Computer Science > Mechanical, Industrial and Aerospace Engineering |
|---|---|
| Item Type: | Article |
| Refereed: | Yes |
| Authors: | Gharaaty, Sepehr and Shu, Tingting and Joubair, Ahmed and Xie, Wen Fang and Bonev, Ilian A |
| Journal or Publication: | International Journal of Advanced Robotic Systems |
| Date: | 2018 |
| Funders: |
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| Digital Object Identifier (DOI): | 10.1177/1729881418787915 |
| Keywords: | Pose correction, visual servoing, pose accuracy, optical CMM, accuracy enhancement |
| ID Code: | 984107 |
| Deposited By: | Krista Alexander |
| Deposited On: | 07 Aug 2018 12:59 |
| Last Modified: | 07 Aug 2018 12:59 |
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